#include <stdlib.h>
#include "..\..\lib\7186e.h"
#include "..\..\lib\xc100.h"

/*If the UserCANInt() function is not used, please don't remove it.*/		  
void UserCANInt(char CANInt){  
  if (CANInt) ;   /*avoid complier warning*/
  if (CANInt==0x01){ /*for Rx interrupt*/
  	L3On();
  }
  else if (CANInt==0x02){ /*for Tx interrupt*/
  	L2On();
  }
  Delay(3); //It doesn't recommend to do this in real application
  L2Off();
  L3Off();
}

void main(void)
{
    int ret,i;
    unsigned char MsgMode,MsgRTR,MsgDataLen,MsgData[8];
    unsigned long MsgID,MsgUpperTimeStamp,MsgLowerTimeStamp,MsgCnt=0;
    unsigned long CANBaud[]={1000000UL,800000UL,500000UL,250000UL,200000UL,125000UL,
                         100000UL,50000UL,25000UL,20000UL,10000UL,5000UL};
    int FoundBaud=0;

    InitLib();

    /********************************************************/
    /*         Start to detect CAN bus baudrate             */
    /********************************************************/
    Print("Start to detect CAN bus baudrate\r\n");
    for(i=0;i<=11;i++)
    {
      FoundBaud=CAN_SearchBaud(CANBaud[i],0,0,500);
      if((FoundBaud == 0) || (FoundBaud != CAN_AutoBaudTimeout)) break;
    }
    
    if(FoundBaud == CAN_NoError) Print("Find CAN Baudrate: %lu\r\n",CANBaud[i]);
    else if(FoundBaud == CAN_AutoBaudTimeout) Print("Timeout, CAN Baudrate Not Find, use default setting.\r\n");
    else  Print("CAN_SearchBaud Error, %d\r\n",FoundBaud);

    

    /********************************************************/
    /*                    Initial all LEDs                  */
    /********************************************************/
    L1Off();
    L2Off();
    L3Off();   
    /*******************************************************/
    /*      initialize and configure the CAN controller    */
    /*******************************************************/
    if(FoundBaud == CAN_NoError	)
      ret=XC100Init(1,3,CANBaud[i],0,0,0x00000000UL,0xffffffffUL);
    else
      ret=XC100Init(1,3,125000UL,0,0,0x00000000UL,0xffffffffUL);
      
    /* XCANInit function Parameter descriptions
       1            : for 7186EX(D) model number (7188XB(D) model number is 0)
       3            : for Receive and transmission interrupt
       125000UL     : for CAN baud
       0            : for BT0 of user defined baud
       0            : for BT1 of user defined baud
       0x00000000UL : for AccCode of CAN message filter
       0xffffffffUL : for AccMask of CAN message filter
    */
    switch (ret){  /*Check if configuration is OK*/
	    case CAN_ResetError:
		    Print("Reset Error!\n\r");
		    return;
	    case CAN_SetACRError:
		    Print("\n\rSet ACR Error!");
		    return;
	    case CAN_SetAMRError:
		    Print("\n\rSet AMR Error!");
		    return;
	    case CAN_SetBaudRateError:
		    Print("\n\rSet Baud Rate Error!");
		    return;
	    case CAN_BaudNotSupport:
		    Print("\n\rBaud Rate Not Support!");
		    return;	
	    case CAN_ConfigError:
		    Print("\n\rConfiguration Failure!");
		    return;
	    default:
		    if (ret >0){
			    Print("Default=%d\n\r",ret);
			    return;
		    }
    }
    /********************************************************/
    /*                     Enable Irq                       */
    /********************************************************/
    CAN_CreateBuffer(0,1000);   //Create RX Buffer
    CAN_CreateBuffer(1,1000);   //Create TX Buffer
    CAN_InstallIrq();
    L1On(); /*Turn on LED1 for indicating that the demo is starting*/ 
    Print("Press any key to exit the program.\n\r");
    while(1){
      /********************************************************/
      /*          Receive CAN messages from CAN bus           */
      /********************************************************/
    	ret=GetCANMsg(&MsgMode,&MsgID,&MsgRTR,&MsgDataLen,MsgData,&MsgUpperTimeStamp,&MsgLowerTimeStamp);
	    if (!ret){
	      MsgCnt++;
		    Print("%lu(%lus-%luus):Mode=%d,ID=%lx,RTR=%d,Len=%d",MsgCnt,MsgUpperTimeStamp
		           ,MsgLowerTimeStamp,MsgMode,MsgID,MsgRTR,MsgDataLen);	
		    if (MsgDataLen && !MsgRTR){
			    Print(",Data=");
			    for (i=0;i<MsgDataLen;i++){
				    Print("%x,",MsgData[i]);
			    }
		    }
		    Print("\n\r");
	    }
	    else{
		    switch(ret){
			    case CAN_DataLengthError:
				    Print("Reception Data Length Error!\n");
				    break;
			    case CAN_DataOverrun:
				    Print("Software Reception Data Buffer Overrun!\n");
				    break;
			    case CAN_ReceiveError:
				    Print("Receive data Error!\n");
				    break;					
			    case CAN_ReceiveBufferEmpty: /*No message in receive buffer*/
				    break;
		    }
	    }
	    /********************************************************/
    	/*            Send CAN messages to CAN bus              */
    	/********************************************************/
	    MsgData[0]=0x12;
	    MsgData[1]=0x23;
	    MsgData[2]=0x34;
	    MsgData[3]=0x45;
	    MsgData[4]=0x56;
	    MsgData[5]=0x67;
	    MsgData[6]=0x78;
	    MsgData[7]=0x89;
	    ret=SendCANMsg(1,0x12345678UL,0,8,MsgData);
	    /*	SendCANMsg function parameter descirptions:
      1            : for Send message with 29-bit ID
      0x12345678UL : for CAN message ID
      0            : for CAN message RTR
      8            : for CAN message data length
      MsgData      : for CAN message output data
	    */
	    if (ret){ 
		    switch(ret){
			    case CAN_DataLengthError:
				    Print("Transmission Data Length Error!\n");
				    break;
			    case CAN_TransmitIncomplete:
				    Print("Transmission is incomplete!\n");
				    break;
			    case CAN_TransmitBufferLocked:
				    Print("CAN controller transmit Buffer is locked!\n");
				    break;	
		    }
		    break;
	    }
	    DelayMs(100);
	    if (Kbhit()){ /*if press any key, exit the program*/
		    Print("Exit this program!\n");
		    break;
	    }
    }
    L1Off();
    L2Off();
    L3Off();
    
    CAN_Restore();
}